Vehicle detection and response

A method, comprising:

• identifying first and second virtual boundaries of a roadway lane based on a predicted boundary line between the roadway lane and an adjacent roadway lane;
• determining a first constraint value based on a first virtual boundary approach acceleration, the first virtual boundary approach acceleration based on a steering wheel angle of a vehicle and input to one of a brake or a propulsion of the vehicle;
• determining a second constraint value based on a second virtual boundary approach acceleration, the second virtual boundary approach acceleration based on a steering wheel angle of the vehicle and input to one of a brake or a propulsion of the vehicle;
• outputting, from a minimized cost function, a prescribed steering angle, a prescribed brake input, and a prescribed propulsion input when one of the first or second constraint values violates a respective threshold;
• and
• actuating one or more components to attain the prescribed steering angle, the prescribed brake input, and the prescribed propulsion input.

A system, comprising:

• a brake;
• a propulsion;
• means for identifying first and second virtual boundaries of a roadway lane based on a predicted boundary line between the roadway lane and an adjacent roadway lane;
• means for determining a first constraint value based on a first virtual boundary approach acceleration, the first virtual boundary approach acceleration based on a steering wheel angle of a vehicle and input to one of the brake or the propulsion;
• means for determining a second constraint value based on a second virtual boundary approach acceleration, the second virtual boundary approach acceleration based on a steering wheel angle of the vehicle and input to one of the brake or the propulsion;
• means for outputting, from a minimized cost function, a prescribed steering angle, a prescribed brake input, and a prescribed propulsion input when one of the first or second constraint values violates a respective threshold;
• and
• means for actuating one or more vehicle components to attain the prescribed steering angle, the prescribed brake input, and the prescribed propulsion input.